La recerca s'articula en dues línies amb els objectius que es detallen a continuació.

Percepció i Manipulació:
1. Enllaçar percepció i acció utilitzant mètodes geomètrics i estadístics per al modelatge de l'entorn i del propi robot, per a la planificació de tasques i moviments, i per a l'aprenentatge.
2. Aprofundir en l'aprenentatge per reforçament i en l'aprenentatge per demostració, en particular el "mestratge", com a base per a la interacció entre robots, humans i l'entorn.

Cinemàtica i Disseny de Robots:
3. Trobar mètodes generals i complets per a l'anàlisi i la planificació de moviments lliures de col·lisió de mecanismes.
4. Desenvolupar noves estructures mecàniques, preferentment robots paral·lels i robots basats en estructures "tensegrity".
5. Incrementar i millorar l'expertesa del grup en l'àrea del disseny mecànic


La investigación se articula en dos líneas con los objectivos que se detallan a continuación.

Percepción y Manipulación:
1. Enlazar percepción y acción utilitzando métodos geométricos y estadísticos para el modelado del entorno y del propio robot, para la planificación de tareas y movimientos, y para el aprendizaje.
2. Profundizar en el aprendizaje por refuerzo y en el aprendizaje por demostración, en particular el entrenamiento, como base para la interacción entre robots, humanos y el entorno.

Cinemática y Diseño de Robots:
3. Encontrar métodos generales y completos para análisis y planificación de movimientos libres de colisión.
4. Desarrollar nuevas estructuras mecánicas, preferentmente robots paralelos y robots "tensegrity".
5. Incrementar y mejorar la competencia del grupo en el área del diseño mecánico.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

Recent Submissions

  • Cognitive system framework for brain-training exercise based on human-robot interactif 

    Andriella, Antonio; Torras, Carme; Alenyà Ribas, Guillem (2020-02-25)
    Article
    Restricted access - publisher's policy
    Every 3 seconds, someone develops dementia worldwide. Brain-training exercises, preferably involving also physical activity, have shown their potential to monitor and improve the brain function of people affected by Alzheimer ...
  • Human motion prediction via spatio-temporal inpainting 

    Hernández Ruiz, Alejandro José; Gall, Juergen; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Open Access
    We propose a Generative Adversarial Network (GAN) to forecast 3D human motion given a sequence of past 3D skeleton poses. While recent GANs have shown promising results, they can only forecast plausible motion over relatively ...
  • Unsupervised image-to-video clothing transfer 

    Pumarola Peris, Albert; Goswami, Vedanuj; Vicente, Francisco; De La Torre, Fernando; Moreno-Noguer, Francesc (2019)
    Conference report
    Open Access
    We present a system to photo-realistically transfer the clothing of a person in a reference image into another person in an unconstrained image or video. Our architecture is based on a GAN equipped with a physical memory ...
  • 3DPeople: modeling the geometry of dressed humans 

    Pumarola Peris, Albert; Sánchez Riera, Jordi; Choi, Gary; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (2019)
    Conference report
    Open Access
    Recent advances in 3D human shape estimation build upon parametric representations that model very well the shape of the naked body, but are not appropriate to represent the clothing geometry. In this paper, we present an ...
  • Human-robot collaborative navigation search using social reward sources 

    Dalmasso Blanch, Marc; Garrell Zulueta, Anais; Jimenez Schlegl, Pablo; Sanfeliu Cortés, Alberto (2019)
    Conference report
    Open Access
    This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, ...
  • Corner detection of deformable fabric using deep learning 

    Mitjans Coma, Albert; Maceira Duch, Marc; Alenyà Ribas, Guillem (2020)
    External research report
    Open Access
    Robotic manipulation of deformable objects such as a towel is one of the most challenging tasks in the field of service robotics. Their unpredictable shape and pose makes it difficult to identify the most relevant parts ...
  • Anticipatory science fiction to foster ethical debates on AI and robotics 

    Torras, Carme (2019)
    Conference report
    Open Access
    The influence that hyperconnectivity and our increasing interaction with machines will have on the evolution of society and on people’s daily lives is difficult to predict. Thus, when trying to anticipate the potential ...
  • Enhancing text spotting with a language model and visual context information 

    Sabir, Ahmed; Moreno-Noguer, Francesc; Padró, Lluís (IOS Press, 2018)
    Conference report
    Open Access
    This paper addresses the problem of detecting and recognizing text in images acquired ‘in the wild’. This is a severely under-constrained problem which needs to tackle a number of challenges including large occlusions, ...
  • Online learning and detection of faces with low human supervision 

    Villamizar Vergel, Michael Alejandro; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Springer, 2019)
    Article
    Open Access
    We present an efficient,online,and interactive approach for computing a classifier, called Wild Lady Ferns (WiLFs), for face learning and detection using small human supervision. More precisely, on the one hand, WiLFs ...
  • Using a new high-throughput video-tracking platform to assess behavioural changes in Daphnia magna exposed to neuro-active drugs 

    Simão, Fátima C.P.; Martínez Jerónimo, Fernando; Blasco Gutiérrez, Víctor; Moreno-Noguer, Francesc; Porta Pleite, Josep Maria; Pestana, Joao; Soarez, Amadeu; Raldúa Pérez, Demetrio José; Barata Martí, Carlos (Elsevier, 2019-04-20)
    Article
    Open Access
    One of the major challenges that faces today regulatory risk assessment is to speed up the way of assessing threshold sublethal detrimental effects of existing and new chemical products. Recently advances in imaging allows ...
  • Learning cloth manipulation with demonstrations 

    Jangir, Rishabh; Torras, Carme; Alenyà Ribas, Guillem (2019)
    External research report
    Open Access
    Recent advances in Deep Reinforcement learning and computational capabilities of GPUs have led to variety of research being conducted in the learning side of robotics. The main aim being that of making autonomous robots ...
  • Singularity-free computation of quaternions from rotation matrices in E4 and E3 

    Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2018)
    Conference report
    Open Access
    A real orthogonal matrix representing a rotation in E4 can be decomposed into the commutative product of a left-isoclinic and a right-isoclinic rotation matrix. The double quaternion representation of rotations in E4 follows ...

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